From 6f5da496ef46c8bd04db31c14923aaf1c53399b8 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Gustav=20S=C3=B6rn=C3=A4s?= <gusso230@student.liu.se>
Date: Fri, 15 Nov 2019 00:46:35 +0100
Subject: Implement key to stop car at end of track

---
 Kod/bilbana/yc4/do_car.m | 14 ++++++++++++++
 Kod/bilbana/yc4/main.m   | 11 +++++++++++
 2 files changed, 25 insertions(+)

diff --git a/Kod/bilbana/yc4/do_car.m b/Kod/bilbana/yc4/do_car.m
index ce3d76c..5063e1d 100644
--- a/Kod/bilbana/yc4/do_car.m
+++ b/Kod/bilbana/yc4/do_car.m
@@ -33,6 +33,10 @@ if car.running == true
 	end
 end
 
+if car.stopped == true
+	return
+end
+
 %% READ INPUT FROM TRACK
 if car.running == true
 	if car.lap ~= 0
@@ -66,6 +70,16 @@ if car.running == true
 		end
 	end
 
+	if car.stopping == true
+		% CHECK IF CAR IS AT THE END OF TRACK
+		if car.position > 19  % TODO idk
+			set_car_speed(car.num, 0);
+			car.stopped = true;
+			return
+		end
+	end
+			
+
 	%% CHECK POINT
 	if car.new_check_point == true
 		if car.new_lap == false % choose_position krachar vid nytt varv (seg 10)
diff --git a/Kod/bilbana/yc4/main.m b/Kod/bilbana/yc4/main.m
index 8ee18b2..6bd889c 100644
--- a/Kod/bilbana/yc4/main.m
+++ b/Kod/bilbana/yc4/main.m
@@ -35,6 +35,8 @@ car1 = struct;
 car1.num = 1;
 car1.running = false;
 car1.automatic = true;
+car1.stopping = false;
+car1.stopped = false;
 car1.segment = 1;
 car1.lap = 0;
 car1.lap_times = [];
@@ -49,6 +51,8 @@ car2 = struct;
 car2.num = 2;
 car2.running = false;
 car2.automatic = true;
+car2.stopping = false;
+car2.stopped = false;
 car2.segment = 1;
 car2.lap = 0;
 car2.lap_times = [];
@@ -103,6 +107,9 @@ while 1
     if strcmp(get(hf,'currentcharacter'),'q')
         close(hf)
         break
+	elseif strcmp(get(hf, 'currentcharacter'), 's')
+		car1.stopping = true;
+		car2.stopping = true;
     end
     
     figure(hf)
@@ -120,6 +127,10 @@ while 1
 		break;
 	end
     
+	if car1.stopped == true && car2.stopped == true
+		break;
+	end
+
     %% END OF LOOP
     while 1                     %Whileloop med paus som k�rs till pausen �verskridit 0.07 sekunder
         % DISPLAY
-- 
cgit v1.2.1


From 26277010960a2cb6aa11fb124c7502d6500dffc4 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Gustav=20S=C3=B6rn=C3=A4s?= <gusso230@student.liu.se>
Date: Fri, 15 Nov 2019 10:42:42 +0100
Subject: add safety margins

---
 Kod/bilbana/yc4/do_car.m | 4 +++-
 Kod/bilbana/yc4/main.m   | 8 ++++----
 2 files changed, 7 insertions(+), 5 deletions(-)

diff --git a/Kod/bilbana/yc4/do_car.m b/Kod/bilbana/yc4/do_car.m
index 5063e1d..ed8de89 100644
--- a/Kod/bilbana/yc4/do_car.m
+++ b/Kod/bilbana/yc4/do_car.m
@@ -72,7 +72,9 @@ if car.running == true
 
 	if car.stopping == true
 		% CHECK IF CAR IS AT THE END OF TRACK
-		if car.position > 19  % TODO idk
+		if car.position > (car.map(80, 1) / 100) - 0.8  % 80cm
+            disp(car.position)
+            disp((car.map(80, 1) / 100) - 300)
 			set_car_speed(car.num, 0);
 			car.stopped = true;
 			return
diff --git a/Kod/bilbana/yc4/main.m b/Kod/bilbana/yc4/main.m
index 6bd889c..fcff963 100644
--- a/Kod/bilbana/yc4/main.m
+++ b/Kod/bilbana/yc4/main.m
@@ -121,13 +121,13 @@ while 1
 	if car1.stop == true
 		disp('stopped by car 1');
 		break;
-	end
-	if car2.stop == true
+    end
+    if car2.stop == true
 		disp('stopped by car 2');
 		break;
-	end
+    end
     
-	if car1.stopped == true && car2.stopped == true
+	if (~car2.running && car1.stopped) || (~car1.running && car2.stopped) || (car1.stopped && car2.stopped)
 		break;
 	end
 
-- 
cgit v1.2.1